CN106986026A - A kind of high-altitude glass-cleaning aircraft - Google Patents
A kind of high-altitude glass-cleaning aircraft Download PDFInfo
- Publication number
- CN106986026A CN106986026A CN201710269453.8A CN201710269453A CN106986026A CN 106986026 A CN106986026 A CN 106986026A CN 201710269453 A CN201710269453 A CN 201710269453A CN 106986026 A CN106986026 A CN 106986026A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- glass
- cleaning
- control system
- stepper motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 124
- 239000011521 glass Substances 0.000 claims abstract description 82
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 230000000007 visual effect Effects 0.000 claims abstract description 29
- 230000008878 coupling Effects 0.000 claims description 28
- 238000010168 coupling process Methods 0.000 claims description 28
- 238000005859 coupling reaction Methods 0.000 claims description 28
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 229910000861 Mg alloy Inorganic materials 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000011538 cleaning material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Cleaning In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of high-altitude glass-cleaning aircraft, including aircraft, cleaning device, control system, navigation module, visual sensing module, laser sensor and wireless remote control module.The aircraft includes main body and support, cleaning device, navigation module, visual sensing module, laser sensor and wireless remote control module are provided with above aircraft top plate, control system is provided with below top plate, the cleaning device includes travel mechanism, rotating mechanism and cleaning mechanism.Characterized in that, control system and aircraft are connected to realize aerial mission；Cleaning device is used to clean high-altitude glass；Navigation module is used for the autonomous flight of aircraft；Visual sensing module is used for the positional information for obtaining glass, and analyzes the clean level of glass；Laser sensor is used to judge the distance between aircraft and glass；Wireless remote control module is used for remote control.The present invention can carry out the cleaning glass task under specific environment, reduce labor intensity, improve safety coefficient.
Description
Technical field
The present invention relates to field of Environment Protection and aircraft field, particularly a kind of high-altitude glass-cleaning aircraft.
Background technology
Not only construction cost is huge for the glass plank road at many scenic spots, safeguards that cleaning cost also can not look down upon.For plank road bottom
The cleaning in portion, cleaning difficulty is big, and danger coefficient is high, the great difficulty that the work to cleanup crew is brought.At present in height
In sky building during the window of glass material or the daily cleaning of metope, cleanup crew is needed by external equipment or dependence
Safety rope carries out cleaning, equally exists the problem that work difficulty is big, danger coefficient is high.
Four-axle aircraft simple structure, flight are flexible, and more traditional helicopter is easier access to task object；It is prior
It is that the research of four-axle aircraft is related to the high, precision and frontier technology of various fields, such as：Aerodynamics, automatically control, from leading
Boat, sensing technology etc.；Now with continuing to develop for sensor technology and computer technology, four-axle aircraft is also led for these
Domain provides a comprehensive research platform.Four-axle aircraft already turns into most popular a kind of aircraft instantly, increasingly by
To the concern of vast science fan and commercial company, therefore, following application prospect of four-axle aircraft is very wide.
Current high-altitude glass-cleaning work danger coefficient is especially big, and cleanup crew's working strength is big, and life security ensures low,
Although the application prospect of four-axle aircraft is quite varied, in high-altitude glass-cleaning field of operation using less, particularly pair
In the window wiping systems of the specific environments such as plank road bottom glass be even more very few.
The content of the invention
It is an object of the invention to provide a kind of high-altitude glass-cleaning aircraft, the high-altitude glass-cleaning aircraft has intelligence
The characteristics of level is high, flexibility is strong, adaptability is good can be changed, high-altitude glass-cleaning work can be carried out.
The technical solution for realizing the object of the invention is：A kind of high-altitude glass-cleaning aircraft, including it is aircraft 1, clear
Clean device 2, control system 3, navigation module 4, visual sensing module 5, laser sensor 6 and wireless remote control module 7；The flight
Device 1 is four-axle aircraft, including aircraft body and support 11, the top of aircraft 1 are provided with cleaning device 2, navigation module
3rd, control system 3 is provided with below visual sensing module 4, laser sensor 5 and wireless remote control module 6, the top plate of aircraft 1,
The cleaning device 2 includes travel mechanism 21, rotating mechanism 22 and cleaning mechanism 23；
The control system 3 and aircraft 1 are connected to aerial mission；The control system 3 and the connection of cleaning device 2 are used
In cleaning high-altitude glass；The control system 3 and navigation module 4 are connected to the autonomous flight of aircraft；The control system 3
It is connected to obtain the positional information of glass with visual sensing module 5, and analyzes the clean level of glass；The control system 3
It is connected to judge the distance between aircraft 1 and glass with laser sensor 6；The control system 3 and wireless remote control module 7
It is connected to realize remote control.
Further, the cleaning device 2 includes travel mechanism 21, rotating mechanism 22, cleaning mechanism 23, the moving machine
Structure 21 is fixed on the top of aircraft 1；The rotating mechanism 22 is connected by push rod 24 with travel mechanism 21；The cleaning mechanism
23 are connected by pole 35 with rotating mechanism 22；
The travel mechanism 21 includes push rod 24, first shaft coupling 25, optical axis 26, the first pillar 27, the second pillar 28, the
Three pillars 29, screw rod 30, the 4th pillar 31, the first stepper motor bearing 32, the first stepper motor 33；First pillar 27,
Second pillar 28, the 3rd pillar 29 and the top that is rectangular and being fixed on aircraft 1 of the 4th pillar 31；The screw rod 30 is applied in
Second pillar 28 and the top of the 4th pillar 31, one end of the screw rod 30 is connected by first shaft coupling 25 with the first stepper motor 33
Connect, the first stepper motor 33 is fixed on the top of the 4th pillar 31 by the first stepper motor bearing 32；The optical axis 26 runs through
In the first pillar 27 and the top of the 3rd pillar 29；The push rod 24 passes through screw rod 30 and optical axis 26, and push rod 24 passes through with screw rod 30
Threaded connection, the length of the push rod 24 is more than the maximum radius of the flight of the aircraft 1；First stepper motor 33 revolves
Turn to drive screw rod 30 to rotate, the internal thread of screw rod 30 drives push rod 24 to move, and then drives rotating mechanism 22 to move, adapt to different
The clean up task of the glass of position；
The rotating mechanism 22 includes the first connecting shaft 34, pole 35, the second stepper motor bearing 36, second shaft coupling
37th, the second stepper motor 38, the front end of push rod 24 is in Y-shaped, and the pole 35 is fixed in the first connecting shaft 34, and first connects
Spindle 34 is fixed on the front end of push rod 24 by bearing；First connecting shaft 34 passes through the stepping of second shaft coupling 37 and second electricity
The output shaft connection of machine 38；Second stepper motor 38 is fixed on push rod 24 by the second stepper motor bearing 36；It is described
Pole 35 rotates above and below being carried out in the presence of the second stepper motor 38, changes the instrument angle of the cleaning mechanism 23；
The cleaning mechanism 23 includes the 3rd stepper motor bearing 39, the 3rd shaft coupling 40, the second connecting shaft 41, the 3rd step
Stepper motor 42, burnisher 43, the front end of the pole 35 is in H types, and the 3rd stepper motor 42 passes through the 3rd stepper motor
Bearing 39 is fixed on the leading inside of pole 35；The output shaft of 3rd stepper motor 42 passes through the 3rd shaft coupling 40 and second
Connecting shaft 41 is connected；Second connecting shaft 41 is fixedly arranged at the front end with burnisher 43；The burnisher 43 is in the 3rd stepping
360 degree of rotation can be realized in the presence of motor 42.
Further, the visual sensing module 5 includes camera bracket 51, camera 52, axle 53, the 4th shaft coupling
54th, the 4th stepper motor 55, the 4th stepper motor bearing 56, camera fixed frame 57, the outside of camera 52 is by camera
Fixed frame 57 is fixed；Camera fixed frame 57 is fixed on the top of camera bracket 51 by axle 53；Camera bracket 51 is consolidated
On the top plate for being scheduled on aircraft 1；Axle 53 is connected by the 4th shaft coupling 54 with the output shaft of the 4th stepper motor 55；4th stepping
Motor 55 is fixed on the top plate of aircraft 1 by the 4th stepper motor bearing 56；4th stepper motor 55 drives camera 52
360 degree of rotation is realized, collection of the aircraft 1 for front and top glass image is realized, glass position is obtained and simultaneously analyzes glass
The clean level of glass.
Further, the control system 3 includes master control system, brushless motor control system, step motor control system
System, the master control system and the cleaning device 2 are connected to clean high-altitude glass；The master control system and navigation module
4 are connected to the autonomous flight of aircraft；The master control system and visual sensing module 5 are connected to obtain the position of glass
Confidence ceases, and analyzes the clean level of glass；The master control system and laser sensor 6 are connected to judge the aircraft
The distance between with glass；The master control system and wireless remote control module 7 are connected to realize remote control；The brushless electricity
Machine control system is used for the various aerial missions for controlling aircraft；The step motor control system is used to control visual sensing mould
The shooting angle of block 5 and the cleaning angle and cleaning action for controlling cleaning device 2；The cleaning mechanism 23 is in the He of aircraft 1
A variety of cleaning glass modes are realized under the cooperation of cleaning device 2：
A. front and rear mode
Location parameter：The push rod 24 is vertical with the pole 35, and the axial direction of the burnisher 43 is vertical with push rod 24；
Moving parameter：The push rod 24 is moved forward and backward；
B. left and right mode
B1 location parameters：The push rod 24 is vertical with the pole 35, and the axial direction of the burnisher 43 and push rod 24 are flat
OK；Moving parameter：Aircraft 1 is moved left and right；
B2 location parameters：The push rod 24 is parallel with the pole 35, and axial direction and the push rod 24 of the burnisher 43 hang down
Direct join and axially it is vertical down；Moving parameter：Aircraft 1 is moved left and right；
C. mode above and below
Location parameter：The push rod 24 is parallel with the pole 35, and the axial direction of the burnisher 43 is vertical with push rod 24
And axial level；Moving parameter：Aircraft 1 is moved up and down；
D. rotation mode
D1 location parameters：The push rod 24 is vertical with the pole 35；Moving parameter：The rotation of burnisher 43 fortune
It is dynamic；
D2 location parameters：The push rod 24 is parallel with the pole 35；Moving parameter：The rotation of burnisher 43 fortune
It is dynamic；
The above-mentioned mode for being suitable for cleaning overhead horizontal direction glass has：Mode a, mode b b1, mode c, mode d's
d1；The above-mentioned mode for being suitable for cleaning high-altitude vertical direction glass has：Mode a, mode b b2, mode c, mode d d2.
Further, the material of the push rod 24 and the pole 35 is magnesium alloy；The inside of burnisher 43 is sky
The heart；The control system 3 and power supply are arranged on below the top plate of aircraft 1 and the direction opposite with cleaning device 2.
Further, the navigation module 4 uses GPS global positioning modules and cartographic information, for realizing aircraft
Independent navigation and autonomous cleaning glass task, make aircraft not roll working region away from.
Further, the visual sensing module 5 gathers forward image using high-definition camera, carries out image recognition judgement
The particular location of glass, communicates information to the control system 3；In addition, visual sensing module 5 is additionally operable to analyze the clear of glass
Clean degree, judges whether clean up task completes.
Further, the laser sensor 6 is used for measuring the distance of aircraft and glass, when judging the cleaning device
2 when can touch glass, and the driving cleaning device 2 of control system 3 starts clean up task；In addition laser sensor 6 is additionally operable to make
Safe distance is kept between aircraft and glass.
Further, the wireless remote control module 7 includes wireless transmitter module and wireless receiving module, for realizing remote control
Data communication between device and aircraft, the working condition of remote real time monitoring aircraft.
Compared with prior art, its remarkable advantage is the present invention：(1) intelligent level is high, is set using a variety of intelligent sensings
It is standby, the entirely autonomous operation of aircraft can be achieved；(2) flexibility is strong, on the one hand, the present invention is used as carrier, body using aircraft
Product is small, can change of flight direction at any time, on the other hand, it is possible to achieve around, up and down, the clearing glass of rotation various ways
Clean method；(3) adaptability is good, can be worked under any adverse circumstances, available for high-altitude wall glass and plank road bottom glass
Cleaning.
Brief description of the drawings
Fig. 1 is the structural representation of high-altitude glass-cleaning aircraft of the present invention.
Fig. 2 is the cleaning device Part I structural representation of high-altitude glass-cleaning aircraft of the present invention.
Fig. 3 is the cleaning device Part II structural representation of high-altitude glass-cleaning aircraft of the present invention.
Fig. 4 is the cleaning device Part III structural representation of high-altitude glass-cleaning aircraft of the present invention.
Fig. 5 is the cleaning device Part IV structural representation of high-altitude glass-cleaning aircraft of the present invention.
Fig. 6 is the visual sensing module structural representation of high-altitude glass-cleaning aircraft of the present invention.
Fig. 7 is high-altitude glass-cleaning flight control structural representation of the present invention.
Accompanying drawing is identified：1 is aircraft, and 2 be cleaning device, and 3 be control system, and 4 be navigation module, and 5 be visual sensing mould
Block, 6 be laser sensor, and 7 be wireless remote sensing module, and 11 be support, and 21 be travel mechanism, and 22 be rotating mechanism, and 23 be cleaning
Mechanism, 24 be push rod, and 25 be first shaft coupling, and 26 be optical axis, and 27 be the first pillar, and 28 be the second pillar, and 29 be the 3rd pillar,
30 be screw rod, and 31 be the 4th pillar, and 32 be the first stepper motor bearing, and 33 first be stepper motor, and 34 be the first connecting shaft, 35
It is the second stepper motor bearing for pole, 36,37 be second shaft coupling, and 38 be the second stepper motor, and 39 be the 3rd stepper motor
Bearing, 40 be the 3rd shaft coupling, and 41 be the second connecting shaft, and 42 be the 3rd stepper motor, and 43 be burnisher, and 51 be camera branch
Frame, 52 be camera, and 53 be axle, and 54 be the 4th shaft coupling, and 55 be the 4th stepper motor, and 56 be the 4th stepper motor bearing, 57
For camera fixed frame.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, be a kind of structural representation of high-altitude glass-cleaning aircraft of the invention, including aircraft 1, cleaning
Device 2, control system 3, navigation module 4, visual sensing module 5, laser sensor 6 and wireless remote control module 7；The aircraft
1 is four-axle aircraft, including aircraft body and support 11, the top of aircraft 1 provided with cleaning device 2, navigation module 3,
Control system 3, institute are provided with below visual sensing module 4, laser sensor 5 and wireless remote control module 6, the top plate of aircraft 1
Stating cleaning device 2 includes travel mechanism 21, rotating mechanism 22 and cleaning mechanism 23；
The control system 3 and aircraft 1 are connected to aerial mission；The control system 3 and the connection of cleaning device 2 are used
In cleaning high-altitude glass；The control system 3 and navigation module 4 are connected to the autonomous flight of aircraft；The control system 3
It is connected to obtain the positional information of glass with visual sensing module 5, and analyzes the clean level of glass；The control system 3
It is connected to judge the distance between aircraft 1 and glass with laser sensor 6；The control system 3 and wireless remote control module 7
It is connected to realize remote control.
As shown in Figure 2-5, it is a kind of cleaning device structural representation of high-altitude glass-cleaning aircraft of the invention, it is described
Cleaning device 2 includes travel mechanism 21, rotating mechanism 22, cleaning mechanism 23, and the travel mechanism 21 is fixed on the upper of aircraft 1
Side；The rotating mechanism 22 is connected by push rod 24 with travel mechanism 21；The cleaning mechanism 23 passes through pole 35 and whirler
Structure 22 is connected；
The travel mechanism 21 includes push rod 24, first shaft coupling 25, optical axis 26, the first pillar 27, the second pillar 28, the
Three pillars 29, screw rod 30, the 4th pillar 31, the first stepper motor bearing 32, the first stepper motor 33；First pillar 27,
Second pillar 28, the 3rd pillar 29 and the top that is rectangular and being fixed on aircraft 1 of the 4th pillar 31；The screw rod 30 is applied in
Second pillar 28 and the top of the 4th pillar 31, one end of the screw rod 30 is connected by first shaft coupling 25 with the first stepper motor 33
Connect, the first stepper motor 33 is fixed on the top of the 4th pillar 31 by the first stepper motor bearing 32；The optical axis 26 runs through
In the first pillar 27 and the top of the 3rd pillar 29；The push rod 24 passes through screw rod 30 and optical axis 26, and push rod 24 passes through with screw rod 30
Threaded connection, the length of the push rod 24 is more than the maximum radius of the flight of the aircraft 1；First stepper motor 33 revolves
Turn to drive screw rod 30 to rotate, the internal thread of screw rod 30 drives push rod 24 to move, and then drives rotating mechanism 22 to move, adapt to different
The clean up task of the glass of position；
The rotating mechanism 22 includes the first connecting shaft 34, pole 35, the second stepper motor bearing 36, second shaft coupling
37th, the second stepper motor 38, the front end of push rod 24 is in Y-shaped, and the pole 35 is fixed in the first connecting shaft 34, and first connects
Spindle 34 is fixed on the front end of push rod 24 by bearing；First connecting shaft 34 passes through the stepping of second shaft coupling 37 and second electricity
The output shaft connection of machine 38；Second stepper motor 38 is fixed on push rod 24 by the second stepper motor bearing 36；It is described
Pole 35 rotates above and below being carried out in the presence of the second stepper motor 38, changes the instrument angle of the cleaning mechanism 23；
The cleaning mechanism 23 includes the 3rd stepper motor bearing 39, the 3rd shaft coupling 40, the second connecting shaft 41, the 3rd step
Stepper motor 42, burnisher 43, the front end of the pole 35 is in H types, and the 3rd stepper motor 42 passes through the 3rd stepper motor
Bearing 39 is fixed on the leading inside of pole 35；The output shaft of 3rd stepper motor 42 passes through the 3rd shaft coupling 40 and second
Connecting shaft 41 is connected；Second connecting shaft 41 is fixedly arranged at the front end with burnisher 43；There is cotton in the outside of burnisher 43
Cleaning material is wrapped up；The burnisher 43 can realize 360 degree of rotation in the presence of the 3rd stepper motor 42, so as to
It is easy to preferably complete clean up task.
As shown in fig. 6, be a kind of visual sensing module structural representation of high-altitude glass-cleaning aircraft of the invention, it is described
Visual sensing module 5 includes camera bracket 51, camera 52, axle 53, the 4th shaft coupling 54, the 4th stepper motor the 55, the 4th
Stepper motor bearing 56, camera fixed frame 57, the outside of camera 52 are fixed by camera fixed frame 57；Camera
Fixed frame 57 is fixed on the top of camera bracket 51 by axle 53；Camera bracket 51 is fixed on the top plate of aircraft 1；Axle 53
It is connected by the 4th shaft coupling 54 with the output shaft of the 4th stepper motor 55；4th stepper motor 55 passes through the 4th stepper motor branch
Seat 56 is fixed on the top plate of aircraft 1；4th stepper motor 55 drives camera 52 to realize 360 degree of rotation, realizes flight
Device 1 obtains glass position and analyzes the clean level of glass for the collection of front and top glass image.
As shown in fig. 7, being a kind of high-altitude glass-cleaning flight control structural representation of the invention, the control
System 3 includes master control system, brushless motor control system, step motor control system, the master control system and described clear
Clean device 2 is connected to cleaning plank road bottom glass and high-altitude glass；The master control system and navigation module 4 are connected to fly
The autonomous flight of row device；The master control system and the visual sensing module 5 are connected to obtain the positional information of glass,
And analyze the clean level of glass；The master control system and the laser sensor 6 be connected to judge the aircraft with
The distance between glass；The master control system and the wireless remote control module 7 are connected to realize remote control；It is described brushless
Electric machine control system is used for the various aerial missions for controlling aircraft；The step motor control system is used to control the vision
The shooting angle of sensing module 5 and the cleaning angle and cleaning action of the control cleaning device 2.The cleaning mechanism 23 exists
Around being realized under the cooperation of the aircraft 1 and the cleaning device 2, up and down, rotation etc. various ways glass
Clean method：
A. front and rear mode
Location parameter：The push rod 24 is vertical with the pole 35, the axial direction of the burnisher 43 and the push rod 24
Vertically；Moving parameter：The push rod 24 is moved forward and backward.
B. left and right mode
(b1) location parameter：The push rod 24 is vertical with the pole 35, and the axial direction of the burnisher 43 is pushed away with described
Bar 24 is parallel；Moving parameter：The aircraft 1 is moved left and right.
(b2) location parameter：The push rod 24 is parallel with the pole 35, and the axial direction of the burnisher 43 is pushed away with described
Bar 24 it is vertical and axially it is vertical down；Moving parameter：The aircraft 1 is moved left and right.
C. mode above and below
Location parameter：The push rod 24 is parallel with the pole 35, the axial direction of the burnisher 43 and the push rod 24
Vertical and axial level；Moving parameter：The aircraft 1 is moved up and down.
D. rotation mode
(d1) location parameter：The push rod 24 is vertical with the pole 35；Moving parameter：The rotation of burnisher 43 fortune
It is dynamic.
(d2) location parameter：The push rod 24 is parallel with the pole 35；Moving parameter：The rotation of burnisher 43 fortune
It is dynamic.
The above-mentioned mode for being suitable for cleaning glass plank road bottom glass has：Mode a, mode b (b1), mode c, mode d
(d1)；The above-mentioned mode for being suitable for cleaning the glass of high-altitude vertical orientations has：Mode a, mode b (b2), mode c, mode d
(d2).
The material of the push rod 24 and the pole 35 is the magnesium alloy that density is smaller, intensity is larger；The cleaner
The inside of tool 43 is hollow；The control system 3 and power supply are both placed in the aircraft with the opposite direction of cleaning device 2
Below 1 top plate, to ensure the mass balance of aircraft entirety.
The navigation module 4 is using GPS global positioning modules and cartographic information, the independent navigation for realizing aircraft,
The autonomous cleaning glass task of aircraft is realized, and can ensure that aircraft will not use working region.
The visual sensing module 5 gathers forward image using high-definition camera, carries out image recognition and judges to need cleaning
Glass particular location, communicate information to the control system 3；In addition, the visual sensing module 5 can also analyze glass
Clean-up performance, until glass is completely cleaned totally, it is next that the control system 3 can just control the cleaning device 2 to carry out
The clean up task in region.
The laser sensor 6 is used for measuring the actual range of aircraft and glass, when ensuring that the cleaning device 2 can be with
When touching glass, the control system 3 can just drive the cleaning device 2 to start clean up task, also assure aircraft and glass
Safe distance is kept between glass.
The wireless remote control module 7 includes wireless transmitter module and wireless receiving module, for realizing remote control and flight
Data communication between device, the working condition of remote real time monitoring aircraft.
In summary, the high-altitude glass-cleaning aircraft involved by patent of the present invention has intelligent level height, flexibility
By force, the features such as adaptability is good, the cleaning glass that can be carried out under the specific environment such as plank road Glass base and high-altitude wall glass is appointed
Business, the present invention can not only reduce the labor intensity of workman, and greatly improve the safety coefficient of work.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, it is all
Any modifications, equivalent substitutions and improvements made within the spirit and principles in the present invention etc., should be included in the protection of the present invention
Within the scope of.
Claims (9)
1. a kind of high-altitude glass-cleaning aircraft, it is characterised in that including aircraft (1), cleaning device (2), control system
(3), navigation module (4), visual sensing module (5), laser sensor (6) and wireless remote control module (7)；The aircraft (1)
For four-axle aircraft, including aircraft body and support (11), aircraft (1) top is provided with cleaning device (2), navigation mould
Set below block (3), visual sensing module (4), laser sensor (5) and wireless remote control module (6), aircraft (1) top plate
There is control system (3), the cleaning device (2) includes travel mechanism (21), rotating mechanism (22) and cleaning mechanism (23)；
The control system (3) and aircraft (1) are connected to aerial mission；The control system (3) and cleaning device (2) are even
Connect for cleaning high-altitude glass；The control system (3) and navigation module (4) are connected to the autonomous flight of aircraft；It is described
Control system (3) and visual sensing module (5) are connected to obtain the positional information of glass, and analyze the clean level of glass；
The control system (3) and laser sensor (6) are connected to judge the distance between aircraft (1) and glass；The control
System (3) and wireless remote control module (7) are connected to realize remote control.
2. high-altitude glass-cleaning aircraft according to claim 1, it is characterised in that the cleaning device (2) includes moving
Motivation structure (21), rotating mechanism (22), cleaning mechanism (23), the travel mechanism (21) are fixed on the top of aircraft (1)；Institute
Rotating mechanism (22) is stated to be connected with travel mechanism (21) by push rod (24)；The cleaning mechanism (23) passes through pole (35) and rotation
Rotation mechanism (22) is connected；
The travel mechanism (21) include push rod (24), first shaft coupling (25), optical axis (26), the first pillar (27), second
Post (28), the 3rd pillar (29), screw rod (30), the 4th pillar (31), the first stepper motor bearing (32), the first stepper motor
(33)；First pillar (27), the second pillar (28), the 3rd pillar (29) and the 4th pillar (31) are rectangular and be fixed on winged
The top of row device (1)；The screw rod (30) is applied in above the second pillar (28) and the 4th pillar (31), the screw rod (30)
One end is connected by first shaft coupling (25) with the first stepper motor (33), and the first stepper motor (33) passes through the first stepper motor
Bearing (32) is fixed on the top of the 4th pillar (31)；The optical axis (26) is applied in the first pillar (27) and the 3rd pillar (29)
Top；The push rod (24) passes through screw rod (30) and optical axis (26), and push rod (24) is connected through a screw thread with screw rod (30), described to push away
The length of bar (24) is more than the maximum radius of the flight of the aircraft (1)；First stepper motor (33) rotation drives spiral shell
Bar (30) is rotated, and the internal thread of screw rod (30) drives push rod (24) mobile, and then drives rotating mechanism (22) motion, adapts to different
The clean up task of the glass of position；
The rotating mechanism (22) includes the first connecting shaft (34), pole (35), the second stepper motor bearing (36), the second shaft coupling
Device (37), the second stepper motor (38), push rod (24) front end are in Y-shaped, and the pole (35) is fixed on the first connecting shaft
(34) on, the first connecting shaft (34) is fixed on the front end of push rod (24) by bearing；First connecting shaft (34) passes through second
Shaft coupling (37) is connected with the output shaft of the second stepper motor (38)；Second stepper motor (38) passes through the second stepper motor
Bearing (36) is fixed on push rod (24)；The pole (35) rotates above and below being carried out in the presence of the second stepper motor (38),
Change the instrument angle of the cleaning mechanism (23)；
The cleaning mechanism (23) includes the 3rd stepper motor bearing (39), the 3rd shaft coupling (40), the second connecting shaft (41), the
Three stepper motors (42), burnisher (43), the front end of the pole (35) is in H types, and the 3rd stepper motor (42) passes through
3rd stepper motor bearing (39) is fixed on the leading inside of pole (35)；The output shaft of 3rd stepper motor (42) passes through
3rd shaft coupling (40) is connected with the second connecting shaft (41)；Second connecting shaft (41) is fixedly arranged at the front end with burnisher
(43)；The burnisher (43) can realize 360 degree of rotation in the presence of the 3rd stepper motor (42).
3. high-altitude glass-cleaning aircraft according to claim 1, it is characterised in that visual sensing module (5) bag
Include camera bracket (51), camera (52), axle (53), the 4th shaft coupling (54), the 4th stepper motor (55), the 4th stepping electricity
It is fixed on the outside of machine bearing (56), camera fixed frame (57), the camera (52) by camera fixed frame (57)；Shooting
Head fixed frame (57) is fixed on above camera bracket (51) by axle (53)；Camera bracket (51) is fixed on aircraft (1)
Top plate on；Axle (53) is connected by the 4th shaft coupling (54) with the output shaft of the 4th stepper motor (55)；4th stepper motor
(55) it is fixed on by the 4th stepper motor bearing (56) on the top plate of aircraft (1)；4th stepper motor (55) drives shooting
Head (52) realizes 360 degree of rotation, realizes collection of the aircraft (1) for front and top glass image, obtains glass position
And analyze the clean level of glass.
4. high-altitude glass-cleaning aircraft according to claim 1, it is characterised in that the control system (3) includes master
Control system, brushless motor control system, step motor control system, the master control system and the cleaning device (2) are even
Connect for cleaning high-altitude glass；The master control system and navigation module (4) are connected to the autonomous flight of aircraft；The master
Control system and visual sensing module (5) are connected to obtain the positional information of glass, and analyze the clean level of glass；Institute
State master control system and laser sensor (6) is connected to judge the distance between the aircraft and glass；The main control
System and wireless remote control module (7) are connected to realize remote control；The brushless motor control system is used to control aircraft
Various aerial missions；The step motor control system is used for shooting angle and the control for controlling visual sensing module (5)
The cleaning angle and cleaning action of cleaning device (2)；The cleaning mechanism (23) is matched somebody with somebody aircraft (1) and cleaning device (2)
A variety of cleaning glass modes are realized under conjunction：
A. front and rear mode
Location parameter：The push rod (24) is vertical with the pole (35), axial direction and the push rod (24) of the burnisher (43)
Vertically；Moving parameter：The push rod (24) moves forward and backward；
B. left and right mode
(b1) location parameter：The push rod (24) is vertical with the pole (35), the axial direction of the burnisher (43) and push rod
(24) it is parallel；Moving parameter：Aircraft (1) is moved left and right；
(b2) location parameter：The push rod (24) is parallel with the pole (35), the axial direction of the burnisher (43) and push rod
(24) it is vertical and axially it is vertical down；Moving parameter：Aircraft (1) is moved left and right；
C. mode above and below
Location parameter：The push rod (24) is parallel with the pole (35), axial direction and the push rod (24) of the burnisher (43)
Vertical and axial level；Moving parameter：Aircraft (1) is moved up and down；
D. rotation mode
(d1) location parameter：The push rod (24) is vertical with the pole (35)；Moving parameter：Burnisher (43) rotation
Motion；
(d2) location parameter：The push rod (24) is parallel with the pole (35)；Moving parameter：Burnisher (43) rotation
Motion；
The above-mentioned mode for being suitable for cleaning overhead horizontal direction glass has：Mode a, mode b (b1), mode c, mode d's
(d1)；The above-mentioned mode for being suitable for cleaning high-altitude vertical direction glass has：Mode a, mode b (b2), mode c, mode d's
(d2)。
5. high-altitude glass-cleaning aircraft according to claim 1, it is characterised in that the push rod (24) and the pole
(35) material is magnesium alloy；To be hollow inside the burnisher (43)；The control system (3) and power supply are arranged on flight
Below the top plate of device (1) and the direction opposite with cleaning device (2).
6. high-altitude glass-cleaning aircraft according to claim 1, it is characterised in that the navigation module (4) uses GPS
Global positioning module and cartographic information, independent navigation and autonomous cleaning glass task for realizing aircraft, make aircraft not
Roll working region away from.
7. high-altitude glass-cleaning aircraft according to claim 1, it is characterised in that the visual sensing module (5) is adopted
Forward image is gathered with high-definition camera, the particular location that image recognition judges glass is carried out, communicates information to the control
System (3)；In addition, visual sensing module (5) is additionally operable to analyze the clean-up performance of glass, judge whether clean up task completes.
8. high-altitude glass-cleaning aircraft according to claim 1, it is characterised in that the laser sensor (6) is used for
The distance of aircraft and glass is measured, when judging that the cleaning device (2) can touch glass, control system (3) driving
Cleaning device (2) starts clean up task；In addition laser sensor (6) be additionally operable to make between aircraft and glass keep safety away from
From.
9. high-altitude glass-cleaning aircraft according to claim 1, it is characterised in that wireless remote control module (7) bag
Wireless transmitter module and wireless receiving module are included, for realizing the data communication between remote control and aircraft, long-range prison in real time
Survey the working condition of aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710269453.8A CN106986026A (en) | 2017-04-24 | 2017-04-24 | A kind of high-altitude glass-cleaning aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710269453.8A CN106986026A (en) | 2017-04-24 | 2017-04-24 | A kind of high-altitude glass-cleaning aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106986026A true CN106986026A (en) | 2017-07-28 |
Family
ID=59417129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710269453.8A Pending CN106986026A (en) | 2017-04-24 | 2017-04-24 | A kind of high-altitude glass-cleaning aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106986026A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018326A (en) * | 2018-08-22 | 2018-12-18 | 周伯顺 | A kind of cleaning dust suction disinfection aircraft |
| CN109334977A (en) * | 2018-09-29 | 2019-02-15 | 吉林大学 | A kind of high-altitude glass curtain wall cleaning unmanned plane |
| CN110269540A (en) * | 2018-03-15 | 2019-09-24 | 谢苏琨 | A kind of UAV system of cleaning of buildings metope |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204433059U (en) * | 2015-01-30 | 2015-07-01 | 马鞍山市赛迪智能科技有限公司 | A kind of aircraft carrying manipulator electric saw |
| US20160052644A1 (en) * | 2014-08-20 | 2016-02-25 | Elwha Llc | Unmanned aerial vehicle having an onboard cleaning device |
| CN105517476A (en) * | 2014-09-03 | 2016-04-20 | 深圳市大疆创新科技有限公司 | UAV and wall cleaning method thereof, and wall cleaning system using same |
| CN205181263U (en) * | 2015-12-10 | 2016-04-27 | 武汉大学 | High -altitude glass cleaning device |
| CN105772289A (en) * | 2016-04-01 | 2016-07-20 | 广东工业大学 | Automatic spray washing manipulator |
| WO2017008776A1 (en) * | 2015-07-14 | 2017-01-19 | Gebäudereinigung Lissowski GmbH | Cleaning device and method for cleaning a surface |
-
2017
- 2017-04-24 CN CN201710269453.8A patent/CN106986026A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160052644A1 (en) * | 2014-08-20 | 2016-02-25 | Elwha Llc | Unmanned aerial vehicle having an onboard cleaning device |
| CN105517476A (en) * | 2014-09-03 | 2016-04-20 | 深圳市大疆创新科技有限公司 | UAV and wall cleaning method thereof, and wall cleaning system using same |
| CN204433059U (en) * | 2015-01-30 | 2015-07-01 | 马鞍山市赛迪智能科技有限公司 | A kind of aircraft carrying manipulator electric saw |
| WO2017008776A1 (en) * | 2015-07-14 | 2017-01-19 | Gebäudereinigung Lissowski GmbH | Cleaning device and method for cleaning a surface |
| CN205181263U (en) * | 2015-12-10 | 2016-04-27 | 武汉大学 | High -altitude glass cleaning device |
| CN105772289A (en) * | 2016-04-01 | 2016-07-20 | 广东工业大学 | Automatic spray washing manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269540A (en) * | 2018-03-15 | 2019-09-24 | 谢苏琨 | A kind of UAV system of cleaning of buildings metope |
| CN109018326A (en) * | 2018-08-22 | 2018-12-18 | 周伯顺 | A kind of cleaning dust suction disinfection aircraft |
| CN109018326B (en) * | 2018-08-22 | 2021-12-31 | 徐州斯普瑞喷涂有限公司 | Cleaning, dust-absorbing and disinfecting aircraft |
| CN109334977A (en) * | 2018-09-29 | 2019-02-15 | 吉林大学 | A kind of high-altitude glass curtain wall cleaning unmanned plane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106873623B (en) | Unmanned aerial vehicle rapid autonomous endurance system and method thereof | |
| EP3599175B1 (en) | Gravity compensation for self-propelled robotic vehicles crawling on non-level surfaces | |
| CN114253300A (en) | Unmanned aerial vehicle inspection system and method for gridding machine nest | |
| CN109623839A (en) | Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting | |
| CN105212840B (en) | Clean robot and its control method | |
| CN107616742B (en) | Curtain unmanned cleaning host control system | |
| JP2018055695A (en) | Method of controlling unmanned aircraft in given environment, method for generating map of given environment, system, program, and communication terminal | |
| CN106986026A (en) | A kind of high-altitude glass-cleaning aircraft | |
| CN109484214A (en) | A kind of new energy vehicle charging robot | |
| CN109998431A (en) | Wall top cleans unmanned plane | |
| CN112315389A (en) | Glass curtain wall cleaning robot | |
| WO2023216480A1 (en) | Supply system for electric energy supply and supplied vehicles of service base by means of internet of things architecture | |
| CN111404083A (en) | Power transmission line inspection robot based on comprehensive navigation and line inspection method thereof | |
| CN102894928A (en) | Automatic window glass cleaning robot system | |
| CN108643599A (en) | Topological three-dimensional suspended structure glass-wall cleaning robot system and motion control method | |
| CN107885215A (en) | A kind of two-wheeled wireless remote controlled intelligent dolly | |
| Gao et al. | A floor cleaning robot using Swedish wheels | |
| CN111531560B (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation | |
| CN113729560A (en) | Hotel cleaning machines people | |
| CN109806997B (en) | Paint spraying device | |
| CN210354583U (en) | Wall top cleaning unmanned aerial vehicle | |
| CN114162317B (en) | Airport foreign matter monitoring system | |
| Vysin et al. | The hybrid mobile robot | |
| CN217504710U (en) | Three-dimensional laser scanning detector | |
| CN216468486U (en) | Airport foreign matter monitoring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170728 |